Makefile is a good reference and should be updated with the new scripts
make starts the Carla instance.
The path may have to be changed depending in the makefile on the insatllation.
make drive starts the driving instance.
The controls can be read from the run_drive.py file.
But the basic arrow keys should work as usual.
Return toggles between autopilot.
Tab switches vehicle.
A case study built using the Carla Automotive Simulator
https://carla.readthedocs.io/en/latest/tuto_first_steps/#Launching-carla-and-connecting-the-client
The driving control has been built from this template https://carla.readthedocs.io/en/latest/tuto_G_pygame/#pygame-for-vehicle-control
Adding C++ code to python https://www.geeksforgeeks.org/how-to-call-c-c-from-python/